Systems and methods for controlling vehicles using an amodal cuboid based algorithm

A method for object state prediction, comprising:

• obtaining, by a computing device, LiDAR datasets from a LiDAR system;
• and
• generating, by the computing device, a most likely sequence of states for an object using (i) velocity and acceleration values that are each functions of center point coordinates of amodal cuboids encompassing at least some points in LiDAR point clouds comprising the LiDAR datasets and (ii) a score that is a function of a first geometrical distance of a given point in the LiDAR datasets to an edge of an amodal cuboid and a second geometrical distance from the given point to a center point of the amodal cuboid.

A non-transitory computer-readable medium having instructions stored thereon that, when executed by at least one computing device, cause the at least one computing device to perform operations comprising:

• obtaining LiDAR datasets from a LiDAR system;
• and
• generating a most likely sequence of states for an object using (i) velocity and acceleration values that are each functions of center point coordinates of amodal cuboids encompassing at least some points in LiDAR point clouds comprising the LiDAR datasets and (ii) a score that is a function of a first geometrical distance of a given point in the LiDAR datasets to an edge of an amodal cuboid and a second geometrical distance from the given point to a center point of the amodal cuboid.